Water jet/abrasive jet cutting head

ABSTRACT

In the field of automated butchering systems there is a need for cutting implements that do not require frequent maintenance and that are capable of cutting through flesh and bone. The cutting head disclosed herein uses a combination of nozzles and cutting fluids for segmenting an animal carcass. The first nozzle directs a non-abrasive fluid toward the carcass to make the initial cut. A second nozzle directs an abrasive fluid toward the carcass to cut through the bones exposed by the initial cut. A third nozzle may be activated to direct a non-abrasive fluid toward the carcass to cut through any remaining portion of the carcass. The cutting head may also include strategically placed air jets which keep the flesh on either side of the cut separated so that sensors may detect the condition of the carcass while it is being segmented.

BACKGROUND OF THE INVENTION

1. Field of the Invention

The present invention relates generally to meat processing and, moreparticularly, to an improved method and apparatus for cutting animalcarcasses into smaller segments.

2. Description of the Related Art

It has been estimated that the beef processing industry suffers fromover 10 billion dollars a year in efficiencies, with 3-4 billion dollarsof that waste arising in the slaughter houses and packing plants. In aconventional packing house operation, animals are slaughtered, theirhides are removed, and the resultant dressed carcass is hung in astorage cooler for subsequent cutting. During the cutting operation, thecarcass is manually segmented by skilled workers into primary cuts. Forinstance, the primary cuts of beef are the shank, the round, the rump,the sirloin, the loin, the flank, the rib, the chuck, the plate, thebrisket, and the shoulder. These primary cuts are then further cut andtrimmed for sale to consumers. This primary cutting operation is timeconsuming and labor intensive, requiring a number of highly skilledbutchers to manually segment each carcass.

On any particular day, the manner in which the primary cuts are madewill vary depending upon the selling price that day for each primarycut. For example, the price of a loin or shoulder cut might vary a fewcents per pound per day. When the price of a loin cut is high, theprimary cut is positioned to maximize the weight of the loin. However,when the price of a shoulder cut is high, the primary cut is positionedto maximize the weight of the shoulder. Although the cuts made by thebutchers are not consistently accurate to produce the most effectiveyield, because carcasses vary in size and build, and because primal cutsare not defined by any precise symmetry, no automated butchering systemexhibits more accuracy than butchers.

Although automated butchering systems do not segment carcasses asaccurately as their human counterparts, a packing house may,nonetheless, use automated butchering systems to prevent backlog and tostreamline their operations. Different automated butchering systemsrequire varying amounts of human interaction. Several automatedbutchering systems have been developed wherein knives and other cuttingimplements, mechanically controlled by an operator or machine, segment acarcass as it moves along a conveyor belt. Although cutting systems ofthis type have, to some extent, decreased the total man-hours requiredby skilled butchers, the greater accuracy achieved by the manual cut hasbeen sacrificed. The accuracy of the cut is degraded due to the limitedmaneuverability of motor driven knives. Moreover, motor driven knivesrequire frequent replacement, especially when required to cut throughbone as well as chilled or frozen fresh.

Other cutting implements have been used to process animals for food. Forinstance, high-pressure water jets have been used to cut fish bodiesinto sections. Unlike knives which must be replaced or sharpened and,thus, directly cause down time for the automated butchering system,water jets can cut continuously. Moreover, when coupled to a multi-axiscontrol arm, the water jets display greater accuracy and maneuverabilitythan motor driven knives. Unfortunately, while the water jets performquite well when cutting fish bodies, water jets have difficulty cuttingdenser flesh, and water jets cannot efficiently cut bone.

The present invention is directed to overcoming, or at least minimizing,one or more of the problems set forth above.

SUMMARY OF THE INVENTION

In accordance with one aspect of the present invention, there isprovided a cutting head that includes a housing having three nozzleslocated thereon. The housing has a frontal portion and rearward portionso that an axis may be defined as extending generally from the frontalportion to the rearward portion. The first nozzle is located on thehousing along the axis. The first nozzle is adapted to couple to a firstfluid passageway which is adapted to deliver non-abrasive fluid to thefirst nozzle. The second nozzle is located on the housing along the axisin spaced apart relation to the first nozzle. The second nozzle isadapted to couple to a second fluid passageway which is adapted todeliver non-abrasive fluid to the second nozzle. The third nozzle islocated on the housing along the axis between the first nozzle and thesecond nozzle and in spaced apart relation to the first nozzle and thesecond nozzle. The third nozzle is adapted to couple to a third fluidpassageway which is adapted to deliver abrasive fluid to the thirdnozzle.

In accordance with another aspect of the present invention, there isprovided a cutting head that includes a housing which has three nozzlesand two sensors located thereon. The housing has a frontal portion andrearward portion so that an axis may be defined as extending generallyfrom the frontal portion to the rearward portion. The first nozzle islocated on the housing along the axis. The second nozzle is located onthe housing along the axis in spaced apart relation to the first nozzle.The third nozzle is located on the housing along the axis between thefirst nozzle and the second nozzle and in spaced apart relation to thefirst nozzle and the second nozzle. The first sensor is located on thehousing along the axis between the first nozzle and the third nozzle.The first sensor delivers a first signal in response to detecting afirst predetermined condition. The third nozzle delivers a jet ofabrasive fluid in response to receiving the first signal. The secondsensor is located on the housing along the axis between the third nozzleand the second nozzle. The second sensor delivers a second signal inresponse to detecting a second predetermined condition. The secondnozzle delivers a jet of non-abrasive fluid in response to receiving thesecond signal.

In accordance with yet another aspect of the present invention, there isprovided a cutting head that includes a housing having seven nozzleslocated thereon. The housing has a frontal portion and rearward portionso that an axis may be defined as generally extending from the frontalportion to the rearward portion. The first nozzle is located on thehousing along the axis. The first nozzle is coupled to a first fluidpassageway which is adapted to deliver non-abrasive fluid to the firstnozzle. The second nozzle is located on the housing along the axis inspaced apart relation to the first nozzle. The second nozzle is coupledto a second fluid passageway which is adapted to deliver non-abrasivefluid to the second nozzle. The third nozzle is located on the housingalong the axis between the first nozzle and the second nozzle and inspaced apart relation to the first nozzle and the second nozzle. Thethird nozzle is coupled to a third fluid passageway which is adapted todeliver abrasive fluid to the third nozzle. A pair of fourth nozzles arelocated on the housing adjacent one another on opposite sides of theaxis between the first nozzle and the third nozzle. Each of the fourthnozzles are coupled to a fourth fluid passageway which is adapted todeliver air to each of the fourth nozzles. A pair of fifth nozzles arelocated on the housing adjacent one another on opposite sides of theaxis between the third nozzle and the second nozzle. Each of the fifthnozzles is coupled to a fifth fluid passageway which is adapted todeliver air to each of the fifth nozzles.

BRIEF DESCRIPTION OF THE DRAWINGS

The foregoing and other advantages of the invention will become apparentupon reading the following detailed description and upon reference tothe drawings in which:

FIG. 1A is a perspective view of an apparatus for segmenting animalcarcasses in accordance with the present invention;

FIG. 1B is a top view of another embodiment of the apparatus illustratedin FIG. 1A;

FIG. 2A is a perspective view of a mounting vehicle for holding andtransporting an animal carcass in the apparatus illustrated in FIGS. 1Aand 1B;

FIG. 2B is a cross-sectional view of a retractable hook that forms aportion of the mounting vehicle illustrated in FIG. 2A;

FIG. 3A is a perspective view of another embodiment of a mountingvehicle for holding and transporting an animal carcass in the apparatusillustrated in FIGS. 1A and 1B;

FIG. 3B is a cross-sectional view of a drive mechanism that forms aportion of the mounting vehicle illustrated in FIG. 3A;

FIG. 4A illustrates a multi-axis control arm and water/abrasive jetassembly for use in the cutting station of the apparatus illustrated inFIG. 1A;

FIG. 4B illustrates a single water or abrasive jet;

FIG. 5 illustrates an exploded view of a motorized joint of themulti-axis control arm illustrated in FIG. 4A;

FIG. 6 illustrates an exploded view of another motorized joint of themulti-axis control arm illustrated in FIG. 4A;

FIG. 7 is a cross-sectional view of an internal port in a portion of anarm and joint illustrated in FIG. 4A;

FIG. 8 illustrates a cross-sectional view taken along line 8--8 in FIG.7; and

FIG. 9 illustrates a two-dimensional view showing interior and exteriorportions of the carcass;

FIG. 10 illustrates a three-dimensional view showing interior andexterior portions of the carcass;

FIG. 10A illustrates a three-dimensional cutting path;

FIG. 11 is a bottom view of a cutting head having nozzles for waterjets, abrasive jets, and air jets;

FIG. 12 is an end view of the cutting head of FIG. 11; and

FIG. 13 is a side view of the cutting head of FIG. 11.

While the invention is adaptable to various modifications andalternative forms, specific embodiments have been shown by way ofexample in the drawings and will be described in detail herein. However,it should be understood that the invention is not intended to be limitedto the particular forms disclosed. Rather, the invention is to cover allmodifications, equivalents and alternatives falling within the spiritand scope of the invention as defined by the appended claims.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

Turning now to the drawings and referring initially to FIG. 1A, anapparatus for automatically segmenting animal carcasses is illustratedand generally designated by a reference numeral 10. Although thefollowing description of the operation of the apparatus 10 will assumethat the apparatus 10 is segmenting a cattle carcass 11, the apparatus10 is also useful for processing other types of animals, such as pigsand lambs. Once an animal has been killed, the animal is preferably hungon an overhead rail conveyor, and its hide and entrails are removed.After the animal has been stripped and eviscerated, the carcass istypically chilled or frozen to minimize fluid loss during subsequentprocessing. After chilling, the rail conveyor 12 delivers the carcass 11of the animal to a mounting station 14.

At the mounting station 14, a laborer removes the animal carcass fromthe overhead conveyor 12 and places the animal carcass on a mountingvehicle 16. The mounting vehicle 16, which forms a portion of a carcasstransport system, securely holds the carcass 11 and transports thecarcass 11 from one station to another in the apparatus 10. The mountingvehicle 16 and the carcass transport system are described in greaterdetail with reference to FIGS. 3A, 3B, 4A and 4B.

After the carcass 11 is loaded onto the mounting vehicle 16, themounting vehicle 16 transports the carcass 11 to an imaging station 20.In the imaging station 20, a first scanner scans exterior portions ofthe carcass 11, and a second scanner scans interior portions of thecarcass 11. Preferably, the first scanner includes two televisioncameras 22 and 24, and the second scanner includes two X-ray tubes 26and 28 with their respective image intensifiers 30 and 32. A computer 34uses the information obtained from this scanning to create cutting pathsfor segmenting the carcass 11. As will be discussed subsequently, anexpert system running on the computer 34 preferably determines theoptimum cutting paths based not only on the information obtained fromthe scanning, but also based on information stored in the expertsystem's database.

After the scanning, the mounting vehicle 16 transports the carcass 11 toa cutting station 40 where cutting implements 42 cut the carcass 11along the created cutting paths. Preferably, the cutting paths arecomputed so that the cutting implements 42 cut the carcass 11 intoprimary cuts, such as the shank, the round, the rump, the sirloin, theloin, the flank, the rib, the chuck, the plate, the brisket, and theshoulder. These primary cuts fall onto a conveyor belt 44 that operatesbelow the carcass 11. The conveyor belt 44 delivers the primary cuts forfurther butchering or transport to a wholesale outlet. The additionalbutchering may be accomplished by butchers or by using another imagestation and cutting station.

From the cutting station 40, the mounting vehicle 16 proceeds to acleaning station 50. At the cleaning station, workers remove any fluidsor portions of the carcass 11 that remain on the mounting vehicle 16.Alternatively, the high pressure water jets (not shown), which arepositioned in relation to the mounting vehicle 16, may be used to cleanthe mounting vehicle 16. Once cleaned, the mounting vehicle 16 returnsto the mounting station 14 to receive another carcass 11.

Although the apparatus 10 relieves butchers from the arduous task ofsegmenting animal carcasses into large primary cuts, the main benefit ofthe apparatus 10 lies in its efficient approach to segmenting animalcarcasses 11. Therefore, the number of stations 14, 20, 40 and 50 and ofmounting vehicles 16 are advantageously selected to maximize efficiency.For instance, assume that the apparatus 10 illustrated in FIG. 1A cansegment a carcass in the same time that it takes to scan anothercarcass. This assumption is fairly accurate since a complex cuttingstation 40 including four cutting implements 42, as illustrated, cansegment a carcass in about one or two minutes. Thus, the apparatusshould contain at least four mounting vehicles 16, one imaging station20 and one cutting station 40. With four mounting vehicles 16,respective carcasses can be loaded, scanned, and cut simultaneously.

However, if the cutting station 40 takes twice as long to segment acarcass as the imaging station 20 takes to scan a carcass, then thecutting station 40 decreases the efficiency of the entire apparatus. Tosolve this problem, as shown in FIG. 1B, a second cutting station 40B ispositioned in parallel with the first cutting station 40A to receiveevery other carcass 11 that leaves the imaging station 20. Similarly, ifthe imaging station 20 takes twice as long to scan a carcass 11 as thecutting station 40 takes to segment a carcass, then an additionalimaging station 20B is incorporated into the apparatus 10 in parallelwith the first imaging station 20A. The single cutting station 40A thenreceives each carcass 11 from the two imaging stations 20A and 20B. Ineach of these situations, at least five mounting vehicles are used sothat each station is fully utilized.

In addition to customizing each apparatus 10 so that it worksefficiently, to optimize the overall butchering process, from killingthe animal to shipping packaged retail cuts, several apparatuses 10 maybe required or a single apparatus 10 may require further customizing.For instance, if the laborers can prepare 100 carcasses per hour to besegmented by an apparatus 10, and the apparatus 10 can only segmenttwenty carcasses per hour, then using five different apparatuses 10would optimize overall efficiency.

Referring now to the remaining drawings, the components of the apparatus10 will be described in greater detail. FIGS. 2A, 2B, 3A and 3Billustrate two embodiments of the mounting vehicle 16 in greater detail.As illustrated FIGS. 2A and 3A, the mounting vehicle 16 includes anupper saddle portion 52 and a lower base portion 54. The saddle portion52 is shaped somewhat like a pommel horse in that it is rectangular oroblong in shape. In the mounting station 14, the cavity of theeviscerated carcass 11 is placed over the saddle portion 52, so that themounting vehicle 16 transports the carcass 11 in a fairly naturalposition with its spine roughly parallel to the ground and its legshanging downwardly.

To hold the carcass 11 in place during transport and during subsequentcutting operations, a plurality of retractable hooks 56 reside withinthe saddle portion 52. After the carcass has been placed on the saddleportion 52, the hooks 56 are actuated from their retracted position toan extended position so that the hooks 56 grip or pierce into the cavitywalls of the carcass 11. Alternatively, the hooks 56 may be angledupwardly so that, when extended, the hooks on one side of the mountingvehicle 16 converge toward the hooks on the other side of the mountingvehicle 16. In this configuration, the hooks 56 grip or surround thespine of the carcass 11 to hold it on the mounting vehicle. The outerends of the hooks 56 may be flat, rounded, or pointed, depending onwhich configuration best holds the carcass to be segmented.

A variety of mechanisms may be used to actuate the retractable hooks 56.As illustrated in FIG. 2B, the hooks 56 are preferably hydraulically orpneumatically actuated. Fluid enters and exits the cylinder 58 through acoupling 60 to respectively extend and retract the piston 62 whichserves as the hook 56. Preferably, the mounting vehicle 16 carries ahydraulic or pneumatic source 64 for supplying fluid to the hooks 56.

Alternatively, adjacent hooks 56 can be connected to respective rackswhich are moved back and forth by the rotation of a pinion gear (notshown). The pinion gear can be rotated manually, mechanically, orelectrically. As another example, each retractable hook 56 can be apiston of a solenoid. The piston is spring-biased toward its extendedposition so that application of an electric current to the stationarywinding of the solenoid retracts the piston.

Whatever form the hooks 56 take, they can be activated in any of avariety of ways. Preferably, the hooks 56 are activated and deactivatedmanually as the operator chooses. A lever 66 associated with the circuitcontrolling the hooks 56 is provided at the rear of the mounting vehicle16. Moving the lever 66 in a first direction retracts the hooks 56 andmoving the lever 66 in a second direction extends the hooks 56.Alternatively, by using a pressure sensitive switch (not shown), thehooks 56 may be activated by the pressure of the carcass 11 when placedon the saddle portion 52, and deactivated when the pressure of thecarcass 11 is removed during the cutting operation. As anotheralternative, the hooks 56 may be automatically activated in response tothe mounting vehicle 16 reaching a particular point in the apparatus 10before entering the image station 20, and automatically deactivated whenreaching another point in the apparatus 10 after exiting the cuttingstation 40.

The mounting vehicle 16 represents a significant advance over overheadrail conveyors that hold a carcass during cutting operations. Theoverhead rail conveyors tend to allow the carcass to move or swing inresponse to the force of the cutting implement. In contrast, themounting vehicle 16 rigidly secures the main portion of the carcassduring the cutting operations, so that the force of the cuttingimplements will not move the carcass by any appreciable amount. Thus,cutting implements segment the carcass more accurately when the carcassis held on the mounting vehicle 16.

The mounting vehicle 16 can transport a carcass 11 between the variousstations in any one of a variety of ways. Preferably, each mountingvehicle 16 is self-propelled. As illustrated in FIG. 2A, the baseportion 54 of the mounting vehicle 16 houses a motor 70. The motor 70drives a rear axle 72 via a chain or belt 74. The motor 70 also suppliespower to the fluid supply 64 if required, e.g., if the fluid supply 64is a hydraulic pump. Preferably, the mounting vehicle 16 follows apreselected path 76. For instance, the path 76 may be a wire imbeddedinto the floor of the slaughterhouse, the path 76 may be a slot in thefloor of the slaughterhouse, or, for a more complex self-propelledsystem, the path 76 may be a programmed path. Regardless of which typeof self-propelled system is selected, the base portion 54 most likelycarries motor and/or guidance control circuitry 78. The circuitry 78automatically controls the motor 70 in response to signals delivered tothe circuitry from sensors (not shown) in the path 76 or from a centralcomputer control, such as the computer 34. In addition, the base portion54 preferably covers the drive and control components of the mountingvehicle 16 to protect them from the working environment in the apparatus10.

The advantages of using self-propelled mounting vehicles 16 arenumerous. First, self-propelled vehicles, particularly those utilizingself-guided or wire-guided systems, permit a flexible layout of thestations of the apparatus 10. Second, the layout of the stations can bechanged or additional station can be added easily. Third, each vehicle16 may be independently controlled to further enhance the efficiency ofthe apparatus 10.

Even though self-propelled mounting vehicles offer many advantages, theyare typically rather expensive. Therefore, other types of propulsionsystems may be used to move the mounting vehicles 16 between the variousstations. One such system is illustrated in FIGS. 3A and 3B. The baseportion 54 of the mounting vehicle 16 rides atop a rail system 80 sothat the mounting vehicle 16 may be transported to the various workstations of the apparatus 10. As illustrated by the cross-sectional viewof FIG. 3B, the base portion 54 includes two downwardly-extending legs82 and 84 which envelope opposing rails 86 and 88 of the rail system 80.A bottom surface 90 of the base portion 54 rides atop the opposed rails86 and 88, while the legs 82 and 84 tend to stabilize the mountingvehicle 16 as it travels along the rails 86 and 88.

In order for the mounting vehicle 16 to move, it is connected to a drivemechanism 92. As illustrated, the drive mechanism 92 is a chain thatmoves longitudinally between the rails 86 and 88. A extendable andretractable peg 94 is disposed in a slot 96 formed in the bottom surface90. The peg 94 may be, for example, the piston 95 of a solenoid, ahydraulic cylinder, or a pneumatic cylinder 97. When extended, the peg94 slides through an aperture in an upwardly extending flange 98 that isattached to the drive mechanism 92. Once coupled to the drive mechanism92, movement of the drive mechanism 92 produces movement of the mountingvehicle 16. Preferably, either the mounting vehicle 16 or the railsystem 80 includes position encoding devices (not shown) that providesinformation regarding the location of the carcass 11 in relation to thevarious stations of the apparatus 10.

It should be noted that the materials used to construct the mountingvehicle 16 are advantageously selected to facilitate x-ray imaging. Themounting vehicle 16 is preferably constructed from plastic or compositematerial that permits x-ray radiation to pass through, i.e., a materialthat is transparent or translucent to the x-ray radiation, instead offrom metal which blocks a large portion of the radiation. If themounting vehicle 16 was formed of metal or some other material that isopaque to the x-ray radiation, then the x-ray scanners could not producean adequate interior image of the carcass due to the interference fromthe mounting vehicle 16. Conversely, if the mounting vehicle 16 isprimarily formed of an x-ray translucent or transparent material, thenmost of the interior of the carcass 11 can be accurately imaged by thex-ray scanners. A certain amount of metal in the mounting vehicle 16 maynot be objectionable. In fact, if metal solenoids or cylinders are usedas hooks 56, during subsequent image processing, the locations of thehooks 56, or of other strategically-placed metal objects, can be used asreference points during image processing.

Once the carcass 11 has been mounted on the mounting vehicle 16 in themounting station 14, the mounting vehicle 16 moves the carcass 11 to theimaging station 20. In the imaging station 20, internal and externalparameters of the carcass 11 are determined, and these parameters arelater used to segment the carcass 11. The external parameters mayinclude: the dimensions of the carcass, the position of the limbs, andcontours of the external musculature of the carcass. The interiorparameters may include: the position, density, and size of the bones;the width and location of the fat seam; the location of certain joints;contours of the internal musculature of the carcass; moisture content;location of abscesses; and approximation of red meat cut out or yield.

The preferred embodiment of the imaging station 20 is illustrated inFIG. 1A. As previously mentioned, the two television cameras 22 and 24image an exterior portion of the carcass when the carcass is in theimaging station 40. Two-camera three-dimensional industrial machinevision systems are well known in the art, and any one of a variety ofthese systems can be used in the imaging station 40. Additionally, twox-ray tubes 26 and 28 having opposed image intensifiers 30 and 32 areused to produce three-dimensional images of an internal portion of thecarcass. While not being generally known or used in industry, dual x-raytubes and intensifiers are used in the medical sciences to producethree-dimensional images of a patient's internal organs.

Since x-ray scanners are used during imaging, the imaging station 20 ispreferably designed to prevent radiation from exiting the imagingstation 20. Lead preferably lines the walls 110 of the imaging station20, as well as an entrance door 112 and an exit door 114. The doors 112and 114 open to allow a mounting vehicle 16 to enter or exit, and thedoors 112 and 114 close during imaging. Preferably, each of the doors112 and 114 includes a flexible door member, a roller extending acrossthe entire width of the door, and an electric motor coupled to theroller and adapted to rotate the roller and thereby wind the flexibledoor member onto or off of the roller. The doors 112 and 114 may be openand closed at the discretion of an operator or automatically in responseto the carcass 11 reaching the desired location within the imagingstation 20.

Before imaging begins, the mounting vehicle 16 or the carcass thereon ispositioned in a known location within the imaging station 20. Forinstance, a detector, such as a photodiode, is positioned within theimaging station 20 to deliver a control signal in response to thecarcass 11 or the mounting vehicle 16 reaching a predetermined location.This control signal causes the drive mechanism of the mounting vehicle16 to stop the mounting vehicle 16 in the predetermined location. Aspreviously alluded to, this control signal may also be used to triggerclosure of the doors 112 and 114. Alternatively, if the mounting vehicle16 is automatically guided by a computer, the coordinates of thepredetermined location can be programmed so that the mounting vehicle 16stops in the predetermined location.

Once in position, the interior and exterior portions of the carcass arescanned. Since the signals delivered by the television cameras 22 and 24and by the x-ray tubes 26 and 28 do not interfere with one another, theinterior and exterior of the carcass can be scanned simultaneously.Typically, neither the television cameras 22 and 24 nor the x-ray tubes26 and 28 will be capable of scanning the entire carcass without somerelative movement between the carcass 11 and the respective scanners.Therefore, the carcass 11 can be moved by the mounting vehicle 16 at acontrolled rate past the scanners. In this instance, the televisioncameras 22 and 24 and the x-ray tubes 26 and 28 with their opposed imageintensifiers 30 and 32 should be positioned to rapidly scan the completecarcass 11 as the carcass 11 moves past.

Alternatively, though not preferable due to the increased expense, themounting vehicle 16 can hold the carcass 11 stationary while thetelevision cameras 22 and 24 and the x-ray tubes 26 and 28 with theirassociated image intensifiers 30 and 32 move along the length of thecarcass 11. In the medical practice, each x-ray tube and its associatedimage intensifier are mounted onto a respective positionable U-shapedmember so that an operator can accurately position each of the tubes andintensifiers about a patient. Having moveable x-ray tubes andintensifiers is preferable in the medical practice because moving apatient during a surgical procedure is generally not recommended.However, the present application creates no such concerns. Therefore, toavoid the expense and considerable clutter associated with moving thescanners, it is preferable to use stationary scanners and to move thecarcass 11 past the scanners.

Strategic placement of the x-ray tubes 26 and 28 and their associatedimage intensifiers 30 and 32 facilitates their production of theinterior images. For instance, if the lower portion of the mountingvehicle 16 contains a motor or other metal parts that can interfere withthe interior image, each x-ray tube 26 and 28 and its respective imageintensifier 30 and 32 should be arranged so that the motor does notintrude into the image field. Therefore, the x-ray scanners arepreferably placed in an x-shaped configuration where each x-ray tube 26and 28 is mounted on either side of the carcass 11 as it passes throughthe mounting station 40. Depending upon the height of the mountingvehicle 16 and the length of the legs of the carcass 11, the legs mayhang on either side of the drive mechanism of the mounting vehicle 16,and, thus, preclude imaging the total carcass without interference.However, since only the body of the carcass 11, not the lower portionsof the legs, is typically segmented, imaging of the entire carcass isnot necessary.

The image signals from the television and x-ray scanners are deliveredto the computer 34 for processing. Since the processing of image signalsfrom television and x-ray scanners is well known, the processingperformed by the computer 34 will not be described in detail herein.Preferably, the WHIP software package available from G. W. Hannaway andAssociates of Boulder, Colo. is used to process the image signals fromthe television scanners, and the EXPERT and/or I.X.L. software packagesavailable from Intelligence Ware of Los Angeles, Calif. are used toprocess the internal image signals from the x-ray scanners. Briefly, theimages from the television and x-ray scanners are digitized so that thecomputer 34 can process the digitized image signals. The computer 34forms a real time, three-dimensional volumetric image, as illustrated inFIG. 10. The image has spatial and density data that completelydescribes the carcass in the virtual memory of the computer 34.Volumetric computer image software packages, such as those availablefrom Hannaway or from Dynamic Graphics of Alameda, Calif., can be usedto combine the external and internal image signals to create thethree-dimensional image.

To segment the carcass 11 as an experienced butcher would segment thecarcass, the computer 34 preferably utilizes an expert system. Inessence, by interpreting the stored image, the expert system producesthree-dimensional cutting paths through the carcass 11. The cuttingpaths are converted into commands for the cutting implements 42. Thisconversion may be accomplished by the computer 34 or by a controlassociated with the cutting implements 42.

Referring to FIGS. 9, 10 and 10A, to produce the cutting paths, thex-ray scanners are preferably adjusted to produce discernable images ofcertain bones in the carcass 11. Using these images, the computer 34determines the positions of these bones. The expert system utilizes thisinformation in conjunction with the exterior images produced by thetelevision scanners, to determine the cutting paths for the variousprimal cuts.

For instance, to determine the cutting path 111 which segments the rump113 from the carcass 11, the expert system locates the joint 115 wherethe femur 117 of the carcass joins the hip 119. The expert system alsolocates the position of the tailbone 121. Since the stored image isthree-dimensional and includes not only interior images but also theexterior contours of the carcass 11, the expert system selects locationson the surface of the carcass 11 that correspond to the rump cut. Oncethe expert system has located the relevant bones and contours, itproduces a three-dimensional cutting path 111 through the carcass 11.

To facilitate better cutting path selection, the carcass 11 may bescanned in a manner to obtain two internal images having differentresolutions. For instance, the carcass 11 can be scanned twice by thex-ray scanners. During the first scan, the x-ray scanners are set at arelatively high intensity to produce an image of the bones of thecarcass 11. During the second scan, the x-ray scanners are set at alower intensity to produce an image of the internal musculature of thecarcass 11. Alternatively, two sets of x-ray scanners can be used at thesame intensity to scan the carcass 11. One scanner is provided with afilter, such as an aluminum filter, so that it produces an image of theinternal musculature, while the unfiltered scanner produces an image ofthe bones of the carcass 11.

Using this information in conjunction with the exterior image producedby the television scanners, the expert system can not only locate thebones and the exterior contours of the carcass 11, but it can alsolocate at least a portion of the interior contours of the carcass 11.Thus, the cutting path 111 can be carefully produced so that the cuttingpath 111 essentially follows the internal and external musculature ofthe leg and rump. This image may also define the fatty tissue of thecarcass and its relationship to the muscle tissue. If so, the cuttingpaths can require the cutting implements to cut the fatty tissue fromthe carcass during the cutting operation.

Alternatively, ultrasonic scanners or other probes may be used, incombination with one or both of the internal and external visionsystems, to obtain information regarding the interior or exterior of thecarcass 11. For instance, an ultrasonic scanner can be adapted tocontact the carcass and deliver information regarding the interior ofthe carcass, or it can be adapted to detect signals reflected off of thecarcass 11 and deliver information regarding the exterior of thecarcass. As another example, a moisture probe could be inserted into thecarcass 11 to approximate the density of red meat cut out from thecarcass. As yet another example, infra red imaging ca be used to detectthe location of any abscess in the carcass 11. The expert system wouldalso evaluate this information and alter its cutting paths accordinglyto avoid cutting the abscess or to cut out the abscess.

After the carcass has been fully scanned in the imaging station 20, thecarcass 11 is transported to the cutting station 40 illustrated inFIG. 1. A camera or detector 124 is positioned within the cuttingstation 40 for determining the proper location of the carcass 11. As themounting vehicle 16 moves the carcass 11 into the cutting station 40,the detector 124 determines the proper position of the carcass 11 sothat the cutting implements 42A-42D can segment the carcass 11 along thepredetermined cutting paths. Most preferably, the detector 124 is atelevision camera that is positioned similarly to the television camera22 with respect to the carcass 11. So positioned, the image from thecamera 22 can be compared to the image from the camera 124 to determinethe proper location for the carcass 11.

As previously mentioned, the cutting station 40 includes a plurality ofmulti-axis cutting implements 42. Preferably, two cutting implements 42are positioned on either side of the carcass 11, with one cuttingimplement 42 of each pair positioned near the rear of the carcass andthe other cutting implement 42 of each pair being positioned near thefront of the carcass. The two front cutting implements 42A and 42B aremounted on a frame 116 that is slidable along parallel rails 126 and 128in the direction of the x axis of the Cartesian coordinate system 120.The two rear cutting implements 42C and 42D are similarly mounted on aframe 122 which is also slidable along the rails 126 and 128 in thedirection of the x axis. Preferably, the frames 116 and 122 moveindependently of one another so that all of the cutting implements42A-42D can cut along independent cutting paths simultaneously.

Referring now to FIGS. 4A, 4B, 5, 6, 7 and 8, the construction andoperation of the cutting implements 42 will be described. Since each ofthe cutting implements 42 are similar to one another, FIG. 4Aillustrates an exemplary cutting implement 42A. The frame 116 can movethe cutting implement 42 along the rail 126 in the direction of thedouble-headed arrow 130, i.e., along the x axis. The cutting implement42 is also mounted to a member 132 that is adapted to move along the zaxis in the direction of the double-headed arrow 134. The cuttingimplement 42 includes a cutting head 136 that is coupled to a multi-axislever arm 138. The multi-axis arm 138 is slidably coupled to the member132 by a fitting 140. The fitting 140 is adapted to move along the yaxis in the direction of the double-headed arrow 142.

The multi-axis arm 138 is preferably a robotic arm available from ASIRobotics of Jeffersonville, Ind. However, FIG. 4A illustrates anexemplary multi-axis arm with the understanding that a wide variety ofmulti-axis arms can be used for facilitating the segmenting of thecarcass 11. The multi-axis arm 138 includes a first arm 144, one end ofwhich is pivotally attached to the fitting 140 to produce angularmovement in the direction of the curved double-headed arrow 146. Theother end of the first arm 144 is pivotally attached to one end of asecond arm 148 to produce angular motion in the direction of the curveddouble-headed arrow 150. The other end of the second arm 148 ispivotally attached to on end of a third arm 152 to produce angularmotion in the direction of the double-headed arrow 154. The other end ofthe third arm 152 is pivotally attached to the cutting head 136 toproduce angular movement in the direction of the curved double-headedarrow 156.

It can be seen that the multi-axis arm 138 is angularly moveable aboutfive different axes, and its connection to the frame 116 facilitateslinear movement along the x, y, and z axes of the Cartesian coordinatesystem 120. In addition, as illustrated in FIG. 4B, the cutting head 136may also pivot about an axis 158 in the angular direction of the curveddouble-headed arrow 160. If so constructed, the arm 138 would allowangular movement of the arm 138 and cutting head 136 in six differentaxes. Thus, the cutting implements 42 are more than capable of thecomplex movement required to segment the carcass 11 along virtually anycutting path determined by the expert system.

Preferably, the cutting implements 42 are driven by closed-loop DC servosystems. As illustrated in FIG. 5, each pivotal joint 162 of themulti-axis arm 138 is pivoted using a motor 164. Since each joint of thearm 138 is substantially identical, the joint 162 illustrated in FIG. 5is exemplary. The motor 164 drives a toothed gear 166. When the motor164 is bolted in place on the end of the arm 148, the toothed gear 166extends through the aperture 170 in the arm 148. The arm 152 has abushing 172 at one end thereof which is adapted to pivotally engage theapertures 170 and 174 of the arm 148. The bushing includes a toothedbore 176 that engages with the toothed gear 166. Thus, rotation of thetoothed gear 166 by the motor 164 produces pivotal movement of the arm152 with respect to the arm 148. Preferably, the computer 34 deliversthe cutting paths to a control associated with the cutting implements42, and the control converts the cutting paths into the appropriatecontrol signals to drive the respective motors associated with thecutting implements.

As illustrated in FIGS. 4A and 5, the cutting head 136 preferablyincludes at least two nozzles 180 and 182. The nozzle 180 directs a highpressure water jet to cut muscle and connective tissue of the carcass 11along the preselected cutting path. The nozzle 182 directs a water jetcarrying an abrasive medium to cut deeper tissue and the bones of thecarcass 11 along the preselected cutting path. Preferably, each nozzle180 and 182 directs its respective jet at about 50,000 psi to segmentthe carcass 11. Hoses 183 and 185 are used to deliver cutting fluid tothe respective nozzles 180 and 182.

While a cutting head as simple as the one illustrated in FIGS. 4A and 5will suffice, FIGS. 11, 12, and 13 illustrate a preferred cutting head187 for use in segmenting the carcass 11. The following description ofthe operation of the cutting head 187 will be facilitated byunderstanding that the cutting head 187 is moving generally in thedirection of arrow 189 when segmenting the carcass 11. A first nozzle191 directs a water jet to cut the first few inches of muscle andconnective tissue of the carcass 11 along the preselected cutting path111.

A pair of second nozzles 193 and 195 are positioned just behind thefirst nozzle 191 for directing air jets against the carcass 11. The airjets keep the flesh of the carcass 11 separated after the cut is made bythe water jet. The second nozzles 193 and 195 are preferably angled awayfrom one another and emit air jets at about 50-70 psi to keep the fleshseparated.

A sensor, such as a photodiode 197, is advantageously positioned betweenthe second nozzles 193 and 195. The electrical signal emitted by thephotodiode 197 changes state in response to the photodiode 197 detectinga predetermined change in luminosity. Specifically, if the water jet hascut the carcass 11 down to a bone, the photodiode 197 will detect a highdegree of luminosity and deliver a corresponding electrical signal tothe computer. This signal, coupled with cutting path information thatindicates that a bone is indeed in the cutting path, activates anabrasive jet to cut through the bone. A third nozzle 199, positionedbehind the photodiode 197, directs the abrasive jet to cut through thebone of the carcass 11 along the predetermined cutting path 111.

While a variety of abrasives could be used in the abrasive jet,preferably crushed eggshells or frozen CO₂ pellets are used as theabrasive. These materials will not contaminate the meat as otherabrasives, like sand, might. Moreover, the abrasive jet is only used tocut tougher tissue or bone. The cutting path includes informationregarding the location of the bones. Thus, when the water jet cuts downto a bone, the abrasive jet is activated to cut through the bone.

Two fourth nozzles 201 and 203 are positioned just behind the thirdnozzle 199 for directing air jets against the carcass 11. The air jetskeep the flesh of the carcass 11 separated after the cut is made by theabrasive jet. Like the second nozzles 193 and 195, the fourth nozzles201 and 203 are preferably angled away from one another and emit airjets at about 100-120 psi to keep the flesh separated. A higher airpressure is typically required from the fourth nozzles 201 and 203 thanfrom the second nozzles 193 and 195 since the deeper cut produces moreflesh to keep separated.

A sensor 205 is positioned just behind the fourth nozzles 201 and 203.The sensor 205 views the cutting path 111 to determine if more cuttingis necessary. The sensor 205 may be another photodiode or a smallultrasonic transceiver. If the sensor 205 delivers an electrical signalindicating that more cutting is necessary, the computer determineswhether the first two cuts should have completed the cutting along thecutting path 111. If not, then a fifth nozzle 207 is activated. Thefifth nozzle 207 directs a second water jet to cut through the remainingflesh of the carcass 11 along the predetermined cutting path 111.

Since the cutting head 187 preferably uses water jets and an abrasivejet, water and abrasive must be delivered to the cutting head 187 insome manner. In addition, air must be delivered to the cutting head 187.Preferably, hoses 209, 211, and 213 are used to carry water and abrasiveto each of the respective nozzles 191, 199, and 207. Hoses 215 and 217deliver air to the second nozzles 193 and 195 and to the fourth nozzles201 and 203, respectively. The hoses 209, 211, 213, 215, and 217 areadvantageously formed from coiled aluminum tubing which providesflexibility during movement of the cutting head 187. The ends of thehoses 209, 211, 213, 215, and 217 are preferably coupled to the fluidsource and the cutting head using a metal-to-metal contact thateffectively produces a cold weld. Thus, the hoses do not contain anyO-rings that could be deteriorated by the high pressure fluid orabrasive, yet the hoses can be easily replaced.

Alternatively, internal fluid passageways may be provided as illustratedin FIGS. 6, 7 and 8. FIG. 6 illustrates a detailed exploded view of thejoint 162, and FIG. 7 and 8 illustrate detailed cross-sections of theassembled joint 162. Since each joint of the arm 138 is similar, onlyone joint is illustrated and described.

The joint 162 includes an outer sleeve 190 that is coupled to the arm148. Two fluid passageways 192 and 194 extend from the joint (not shown)at the other end of the arm 148 to the sleeve 190. A substantiallysolid, complimentary inner sleeve 196 is coupled to the end of the arm152 that attaches to the arm 148. Preferably, a pair of set screws 214and 216 are screwed into respective slots 218 and 220 which are formedin the inner sleeve 196 when the joint 162 is assembled.

The inner sleeve 196 has two bores 198 and 200 therethrough thatfluidically communicate with the fluid passageways 192 and 194,respectively. Two fluid passageways 202 and 204 are coupled to the bores198 and 200, respectively, to carry the respective fluids to the otherend of the arm 152. The opening 206 in the outer sleeve 190 limits thepivotal movement of the arm 152 because the fluid passageways 202 and204 would contact the edge of the outer sleeve 190.

To ensure that the fluid passageways 192 and 194 remain in fluidiccontact with the fluid passageways 202 and 204, respectively, as thearms 148 and 152 are pivoted relative to one another, a pair ofelongated slots 206 and 208 are formed in the inner sleeve 196. Setscrew and slot arrangement allows pivotal motion of the arm 148 relativeto the arm 152, but does not permit axial movement between the jointswhich would tend to misalign the fluid passageways 192 and 194 fromtheir respective slots 206 and 208. The slots 206 and 208 are positionedto receive fluid from the fluid passageways 192 and 194 as the arm 152is pivoted relative to the arm 148. A respective O-ring 210 and 212encompasses each slot 206 and 208 to prevent fluid from the passagewaysfrom leaking out through the joint.

We claim:
 1. A cutting head, comprising:a housing having a frontalportion and a rearward portion and having an axis defined as generallyextending from said frontal portion to said rearward portion; a firstnozzle being located on said housing along said axis, said first nozzlebeing adapted to couple to a first fluid passageway adapted to delivernon-abrasive fluid to said first nozzle; a second nozzle being locatedon said housing along said axis in spaced apart relation to said firstnozzle, said second nozzle being adapted to couple to a second fluidpassageway adapted to deliver non-abrasive fluid to said second nozzle;and a third nozzle being located on said housing along said axis betweensaid first nozzle and said second nozzle and in spaced apart relation tosaid first nozzle and to said second nozzle, said third nozzle beingadapted to couple to a third fluid passageway adapted to deliverabrasive fluid to said third nozzle.
 2. The cutting head, as set forthin claim 1, wherein said housing comprises:a mounting on said housing,said mounting being adapted to couple to a control arm.
 3. The cuttinghead, as set forth in claim 1, wherein said housing comprises:a levelsurface extending between said frontal portion and said rearwardportion, said first, second, and third nozzles being located on saidlevel surface of said housing.
 4. The cutting head, as set forth inclaim 3, wherein said first nozzle projects perpendicularly from saidlevel surface of said housing.
 5. The cutting head, as set forth inclaim 3, wherein said second nozzle projects perpendicularly from saidlevel surface of said housing.
 6. The cutting head, as set forth inclaim 3, wherein said third nozzle projects perpendicularly from saidlevel surface of said housing.
 7. The cutting head, as set forth inclaim 3, wherein said first nozzle projects outwardly from said levelsurface of said housing at an angle toward said frontal portion.
 8. Thecutting head, as set forth in claim 3, wherein said second nozzleprojects outwardly from said level surface of said housing at an angletoward said rearward portion.
 9. The cutting head, as set forth in claim1, wherein said housing comprises:a curved surface extending betweensaid frontal portion and said rearward portion, said first, second, andthird nozzles being located on said curved surface of said housing. 10.The cutting head, as set forth in claim 9, wherein said first, second,and third nozzles project radially outwardly from said curved surface ofsaid housing.
 11. A cutting head, comprising:a housing having a frontalportion and a rearward portion and having an axis defined as generallyextending from said frontal portion to said rearward portion; a firstnozzle being located on said housing along said axis; a second nozzlebeing located on said housing along said axis in spaced apart relationto said first nozzle; a third nozzle being located on said housing alongsaid axis between said first nozzle and said second nozzle and in spacedapart relation to said first nozzle and to said second nozzle; a firstsensor being located on said housing along said axis between said firstnozzle and said third nozzle, said first sensor delivering a firstsignal in response to detecting a first predetermined condition, andsaid third nozzle delivering a jet of abrasive fluid in response to saidfirst signal; and a second sensor being located on said housing alongsaid axis between said third nozzle and said second nozzle, said secondsensor delivering a second signal in response to detecting a secondpredetermined condition, and said second nozzle delivering a jet ofnon-abrasive fluid in response to said second signal.
 12. The cuttinghead, as set forth in claim 11, wherein said housing comprises:amounting on said housing, said mounting being adapted to couple to acontrol arm.
 13. The cutting head, as set forth in claim 11, whereinsaid housing comprises:a level surface extending between said frontalportion and said rearward portion, said first, second, and third nozzlesbeing located on said level surface of said housing.
 14. The cuttinghead, as set forth in claim 13, wherein said first nozzle projectsperpendicularly from said level surface of said housing.
 15. The cuttinghead, as set forth in claim 13, wherein said second nozzle projectsperpendicularly from said level surface of said housing.
 16. The cuttinghead, as set forth in claim 13, wherein said third nozzle projectsperpendicularly from said level surface of said housing.
 17. The cuttinghead, as set forth in claim 13, wherein said first nozzle projectsoutwardly from said level surface of said housing at an angle towardsaid frontal portion.
 18. The cutting head, as set forth in claim 13,wherein said second nozzle projects outwardly from said level surface ofsaid housing at an angle toward said rearward portion.
 19. The cuttinghead, as set forth in claim 11, wherein said housing comprises:a curvedsurface extending between said frontal portion and said rearwardportion, said first, second, and third nozzles being located on saidcurved surface of said housing.
 20. The cutting head, as set forth inclaim 19, wherein said first, second, and third nozzles project radiallyoutwardly from said curved surface of said housing.
 21. The cuttinghead, as set forth in claim 11, wherein said first sensor is aphotodiode, said photodiode delivering said first signal in response toan increase in luminosity caused by exposed bone.
 22. The cutting head,as set forth in claim 11, wherein said second sensor is a photodiode,said photodiode delivering said second signal in response to a decreasein luminosity caused by an uncut portion of said carcass.
 23. Thecutting head, as set forth in claim 11, wherein said second sensor is anultrasonic transceiver, said ultrasonic transceiver delivering saidsecond signal in response to transmitting and receiving an ultrasonicsignal indicating the presence of an uncut portion of said carcass. 24.A cutting head, comprising:a housing having a frontal portion and arearward portion and having an axis defined as generally extending fromsaid frontal portion to said rearward portion; a first nozzle beinglocated on said housing along said axis, said first nozzle being coupledto a first fluid passageway adapted to deliver non-abrasive fluid tosaid first nozzle; a second nozzle being located on said housing alongsaid axis in spaced apart relation to said first nozzle, said secondnozzle being coupled to a second fluid passageway adapted to delivernon-abrasive fluid to said second nozzle; a third nozzle being locatedon said housing along said axis between said first nozzle and saidsecond nozzle and in spaced apart relation to said first nozzle and tosaid second nozzle, said third nozzle being coupled to a third fluidpassageway adapted to deliver abrasive fluid to said third nozzle; apair of fourth nozzles located on said housing adjacent one another onopposite sides of said axis between said first nozzle and said thirdnozzle, each of said fourth nozzles being coupled to a fourth fluidpassageway adapted to deliver air to each of said fourth nozzles; and apair of fifth nozzles located on said housing adjacent one another onopposite sides of said axis between said third nozzle and said secondnozzle, each of said fifth nozzles being coupled to a fifth fluidpassageway adapted to deliver air to each of said fifth nozzles.
 25. Thecutting head set forth in claim 24, wherein said housing comprises:amounting on said housing, said mounting being adapted to couple to acontrol arm.
 26. The cutting head, as set forth in claim 24, whereinsaid housing comprises:a level surface extending between said frontalportion and said rearward portion, said first, second, and third nozzlesbeing located on said level surface of said housing.
 27. The cuttinghead, as set forth in claim 26, wherein said first nozzle projectsperpendicularly from said level surface of said housing.
 28. The cuttinghead, as set forth in claim 26, wherein said second nozzle projectsperpendicularly from said level surface of said housing.
 29. The cuttinghead, as set forth in claim 26, wherein said third nozzle projectsperpendicularly from said level surface of said housing.
 30. The cuttinghead, as set forth in claim 26, wherein said first nozzle projectsoutwardly from said level surface of said housing at an angle towardsaid frontal portion.
 31. The cutting head, as set forth in claim 26,wherein said second nozzle projects outwardly from said level surface ofsaid housing at an angle toward said rearward portion.
 32. The cuttinghead, as set forth in claim 24, wherein said housing comprises:a curvedsurface extending between said frontal portion and said rearwardportion, said first, second, and third nozzles being located on saidcurved surface of said housing.
 33. The cutting head, as set forth inclaim 32, wherein said first, second, and third nozzles project radiallyoutwardly from said curved surface of said housing.
 34. A cutting head,comprising:a housing having a frontal portion and a rearward portion andhaving an axis defined as generally extending from said frontal portionto s id rearward portion; a first nozzle being located on said housingalong said axis, said first nozzle being coupled to a first fluidpassageway adapted to deliver non-abrasive fluid to said first nozzle; asecond nozzle being located on said housing along said axis in spacedapart relation to said first nozzle, said second nozzle being coupled toa second fluid passageway adapted to deliver non-abrasive fluid to saidsecond nozzle; a third nozzle being located on said housing along saidaxis between said first nozzle and said second nozzle and in spacedapart relation to said first nozzle and to said second nozzle, saidthird nozzle being coupled to a third fluid passageway adapted todeliver abrasive fluid to said third nozzle; a pair of fourth nozzleslocated on said housing adjacent one another on opposite sides of saidaxis between said first nozzle and said third nozzle, each of saidfourth nozzles being coupled to a fourth fluid passageway adapted todeliver air to each of said fourth nozzles; a pair of fifth nozzleslocated on said housing adjacent one another on opposite sides of saidaxis between said third nozzle and said second nozzle, each of saidfifth nozzles being coupled to a fifth fluid passageway adapted todeliver air to each of said fifth nozzles; a first sensor being locatedon said housing along said axis between said first nozzle and said thirdnozzle, said first sensor delivering a first signal in response todetecting a first predetermined condition, and said third nozzledelivering a jet of abrasive fluid in response to said first signal; anda second sensor being located on said housing along said axis betweensaid third nozzle and said second nozzle, said second sensor deliveringa second signal in response to detecting a second predeterminedcondition, and said second nozzle delivering a jet of non-abrasive fluidin response to said second signal.
 35. A method of segmenting an animalcarcass using a single fluidic cutting head, comprising the stepsof:directing a first non-abrasive fluid jet from said cutting headtoward said carcass, said first non-abrasive fluid jet cutting a portionof said carcass; delivering a first signal in response to said firstnon-abrasive fluid jet cutting said carcass down to a bone; directing anabrasive fluid jet from said cutting head toward said bone, saidabrasive fluid jet cutting through said bone; delivering a second signalin response to said first non-abrasive fluid jet and said abrasive fluidjet failing to cut completely through said carcass; and directing asecond non-abrasive fluid jet from said cutting head toward saidcarcass, said second non-abrasive fluid jet cutting completely throughsaid carcass.